Fig. 11
Hurdle Obstacle Torque/Angle Characteristics. Knee and ankle angle, torque, and knee carriage (carr., equivalent to KA z ) and ankle moment arm position (Mom. Arm, equivalent to A Ï• ) while navigating the obstacles. The knee torques remain low during the event, because the leg shank is kept relatively close to vertical as the hip is flexed. This flexion allows for easy navigation of the hurdles without resorting to manually flexing the limb with the hands. The ankle does not command different rest positions during the task, and only a small plantarflexion torque is seen during the stance phases